CN215984414U - Monocular double-projection three-dimensional measurement system - Google Patents
Monocular double-projection three-dimensional measurement system Download PDFInfo
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- CN215984414U CN215984414U CN202121284503.8U CN202121284503U CN215984414U CN 215984414 U CN215984414 U CN 215984414U CN 202121284503 U CN202121284503 U CN 202121284503U CN 215984414 U CN215984414 U CN 215984414U
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Abstract
The utility model discloses a monocular double-projection three-dimensional measurement system. The device belongs to the technical field of optical measurement and comprises a top cover plate, a bottom shell, an infrared light projection device, a camera lens, a visible light projection device, a screwing screw cover, a controllable motor, a motor cooling fan, a high-speed industrial camera, a projection equipment support, a camera base, an infrared light filter, a visible light filter, a motor base and a computer. According to the monocular double-projection three-dimensional measurement system, the visible light projection device and the infrared light projection device project the coding patterns at the same time, the controllable motor drives the optical filter, so that the high-speed industrial camera simultaneously collects two patterns which are automatically separated by the optical filter, and the image collection frame rate of the three-dimensional measurement system is improved.
Description
Technical Field
The utility model belongs to the technical field of optical measurement, and particularly relates to a monocular double-projection three-dimensional measurement system.
Background
The three-dimensional measurement direction is a research direction which is newer and has a larger prospect at present, and the three-dimensional measurement system can be applied to various occasions of life and industry due to the applicability of the three-dimensional measurement system. By combining other technologies, the original technical method is optimized to a certain degree. The active measurement technology is an important part of the existing three-dimensional measurement, and due to the non-contact property, three-dimensional information of the surface of an object can be conveniently obtained only by projecting a pattern to the surface of the object.
In combination with some living and industrial occasions such as unmanned driving and cave surveying, the three-dimensional measuring system is required to have high real-time performance, so that the realization of high-speed three-dimensional measurement is the prospect of three-dimensional measurement direction at present. Achieving three-dimensional measurement with high accuracy and high speed requires projecting and acquiring images at high speed. Due to the limitation of the current hardware equipment, the projection frame rate of the projection equipment is low, and high-speed projection cannot be realized.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims to provide a monocular double-projection three-dimensional measurement system which utilizes two projection devices to project coding patterns simultaneously, utilizes a high-speed industrial camera to acquire the patterns projected by the two projection devices simultaneously at a high speed, and automatically separates the simultaneously projected patterns through two different optical filters without other operations for separating the patterns.
The technical scheme is as follows: the utility model relates to a monocular double-projection three-dimensional measurement system, which comprises an integrated monocular double-projection three-dimensional measurement camera (15) and a computer (16);
the monocular double-projection three-dimensional measurement camera (15) comprises a top cover plate (1) at the upper part and a bottom shell (2) at the lower part;
two sides of the interior of the bottom shell (2) are respectively provided with a projection equipment bracket (10), and the middle part of the bottom shell (2) and the space between the two projection equipment brackets (10) are provided with an adjacent motor base (14) and a camera base (11).
Furthermore, a visible light projection device (5) is arranged on one of the projection equipment supports (10), and an infrared light projection device (3) is arranged on the other projection equipment support (10);
a controllable motor (7) is arranged on the motor base (14), and one end of the controllable motor (7) is connected with a motor cooling fan (8) through a wired line;
a high-speed industrial camera (9) is mounted on the camera mount (11).
Furthermore, a motor shaft is arranged in the controllable motor (7), and an infrared filter (12) and a visible light filter (13) are respectively arranged at the other end of the motor shaft.
Furthermore, a screwing cover (6) is arranged on one end of the controllable motor (7) close to the infrared filter (12) and the visible light filter (13).
Furthermore, a threaded hole is formed in the middle of the bottom shell (2) and close to the high-speed industrial camera (9), and a camera lens (4) is arranged inside the threaded hole.
Furthermore, the acquisition frame rate of the high-speed industrial camera (9) is required to be greater than the sum of the projection frame rates of the visible light projection device (5) and the infrared light projection device (3).
Further, the camera lens (4) used is a common industrial camera fixed focus lens.
Furthermore, the working rotating speed of the used controllable motor (7) is more than half of the acquisition frame rate of the high-speed industrial camera (9).
Has the advantages that: compared with the prior art, the monocular double-projection three-dimensional measurement system provided by the utility model has the advantages that the visible light and infrared light projection equipment simultaneously projects the coding patterns, the optical filter is driven by the controllable motor, so that the high-speed industrial camera simultaneously acquires two patterns which are automatically separated by the optical filter, and the image acquisition frame rate of the three-dimensional measurement system is improved. At present, the acquisition frame rate of the camera is higher than that of the projection device, so the frame rate of the projection device is often a limiting factor of high-speed three-dimensional measurement. If the projection frame rates of the visible light projection device and the infrared light projection device are the same, and the acquisition frame rate of the high-speed industrial camera is set to be the sum of the frame rates, the acquisition frame rate is twice of that of a monocular projection system using the projection device with the same projection frame rate. If a common monocular dual projection system is used and the projected pattern is acquired simultaneously, then separating the patterns is again a necessary operation. If a conventional monocular dual-projection system is used without acquiring the projected patterns simultaneously, the correlation between the projected patterns of the two devices will be reduced, which affects the reconstruction accuracy. The utility model enables the automatic separation of simultaneously projected patterns to be acquired by a high-speed camera by using an optical filter.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention with the top closure panel open;
FIG. 3 is a cross-sectional view taken at points A and B of FIG. 2;
FIG. 4 is a cross-sectional view at C of the present invention with the top cover panel open;
in the figure, 1 is a top cover plate, 2 is a bottom shell, 3 is an infrared light projection device, 4 is a camera lens, 5 is a visible light projection device, 6 is a screwing cover, 7 is a controllable motor, 8 is a motor cooling fan, 9 is a high-speed industrial camera, 10 is a projection equipment support, 11 is a camera base, 12 is an infrared filter, 13 is a visible light filter, 14 is a motor base, 15 is a monocular double-projection three-dimensional measurement camera, and 16 is a computer.
Detailed Description
The utility model is further described with reference to the following drawings and specific embodiments; in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in many ways different from those described herein, and similar modifications may be made by those skilled in the art without departing from the spirit of the present application, and the present application is therefore not limited to the specific implementations disclosed below.
The utility model relates to a monocular double-projection three-dimensional measurement system, which comprises an integrated monocular double-projection three-dimensional measurement camera 15 and a computer 16;
the monocular double-projection three-dimensional measurement camera 15 comprises a top cover plate 1 at the upper part and a bottom shell 2 at the lower part;
two sides of the inside of the bottom shell 2 are respectively provided with a projection device bracket 10, and the middle part of the bottom shell 2 and the space between the two projection device brackets 10 are provided with an adjacent motor base 14 and a camera base 11.
Further, a visible light projection device 5 is arranged on one of the projection equipment brackets 10, and an infrared light projection device 3 is arranged on the other projection equipment bracket 10;
the infrared light projection device 3 is fixed above the projection equipment bracket 10 at one side (left side) in the alignment direction of the camera lens 4 through a threaded hole, and projects an infrared light pattern to an object;
the threaded hole of the visible light projection device 5 is fixed above the projection equipment bracket 10 on the other side (right side) in the alignment direction of the camera lens 4, and projects a visible light pattern to an object.
A controllable motor 7 is arranged on the motor base 14, and one end of the controllable motor 7 is connected with a motor cooling fan 8 through a wired line;
a high-speed industrial camera 9 is arranged on the camera base 11;
the high-speed industrial camera 9 is placed on the camera base 14 and faces to be collinear with the direction of the camera lens 4; if the same frame rate is used for the infrared light projection device 3 and the visible light projection device 5, the high-speed industrial camera 9 sets the acquisition frame rate to be twice the frame rate, so that the pattern projected by the infrared light projection device 3 and the pattern projected by the visible light projection device 5 are simultaneously acquired.
Further, a motor shaft is arranged in the controllable motor 7, and an infrared filter 12 and a visible light filter 13 are respectively arranged at the other end of the motor shaft;
the infrared filter 12 and the visible light filter 13 are arranged at the other end of the motor shaft, are close to one end of the camera lens 4, and are respectively arranged at two ends of the controllable motor 7 together with the motor cooling fan 8;
a controllable motor 7 is placed on a motor base 14 beside a high-speed industrial camera 9, and a semicircular infrared filter 12 and a semicircular visible light filter 13 are connected and are arranged at the shaft extension end of the controllable motor 7 through screwing a screw cap 6;
the controllable motor 7 drives a circular optical filter consisting of an infrared optical filter 12 and a visible light optical filter 13 to rotate and is blocked at a proper position in front of the high-speed industrial camera 9; when the controllable motor 7 rotates, the infrared filter 12 and the visible light filter 13 are alternatively blocked in front of the high-speed industrial camera 9, and the patterns projected by the infrared light projection device 3 and the visible light projection device 5 which are modulated by the object at the same time are separated, so that the patterns are collected by the high-speed industrial camera 9;
adjusting the rotating speed of the controllable motor 7 to be synchronous with the acquisition rate of the high-speed industrial camera 9; when the semicircular infrared filter 12 blocks the high-speed industrial camera 9 and the symmetry axis of the semicircular filter is positioned at a horizontal position, the high-speed industrial camera 9 performs image acquisition operation once, and the acquired images are infrared light patterns automatically separated by the filter in the simultaneously projected patterns; when the motor rotates for a half turn, the visible light filter 13 blocks the high-speed industrial camera 9 and is positioned at the same position, the high-speed industrial camera 9 collects images again, and the collected images are visible light patterns automatically separated by the filter in the simultaneously projected patterns; by this loop, the frame rate of acquiring the object modulation image is improved.
Further, the other end of the controllable motor 7 is connected with a screwing cover 6; the screwing cover 6 is arranged at one end close to the infrared filter 12 and the visible light filter 13, is arranged at the outer ends of the infrared filter 12 and the visible light filter 13, and is used for fastening the infrared filter 12 and the visible light filter 13.
Further, a threaded hole is formed in the middle (front side) of the bottom shell 2 and close to the high-speed industrial camera 9, and a camera lens 4 is arranged in the threaded hole; the effect of placing the camera lens 4 here is to prepare for the high speed industrial camera 9 to capture images.
Further, the acquisition frame rate of the high-speed industrial camera 9 needs to be greater than the sum of the projection frame rates of the visible light projection device 5 and the infrared light projection device 3.
Further, the camera lens 4 used is a fixed focus lens of a common industrial camera.
Further, the working rotating speed of the used controllable motor 7 is more than half of the acquisition frame rate of the high-speed industrial camera 9.
Furthermore, all the devices in the utility model are connected by wire.
Specifically, the utility model provides a monocular double-projection three-dimensional measurement system, which comprises a monocular double-projection three-dimensional measurement camera 15 (a top cover plate 1, a bottom shell 2, an infrared light projection device 3, a camera lens 4, a visible light projection device 5, a screwing rotary cover 6, a controllable motor 7, a motor cooling fan 8, a high-speed industrial camera 9, a projection equipment support 10, a camera base 11, an infrared filter 12, a visible light filter 13, a motor base 14) and a computer 16; the method is characterized in that patterns projected by two projection devices (an infrared light projection device 3 and a visible light projection device 5) are automatically separated by using an optical filter, so that high-speed acquisition of images is realized by using a high-speed industrial camera 9.
A controllable motor 7 is placed beside a high-speed industrial camera 9, a visible light filter 13 and an infrared filter 12 are fixedly arranged at one end of a motor shaft, a visible light projection device 5 and an infrared light projection device 3 project patterns to the surface of an object at the same time, the patterns modulated by the object pass through a camera lens 4, then the controllable motor 7 drives two connected filters, and the patterns are automatically separated and collected by the high-speed industrial camera 9.
A motor cooling fan 8 is arranged at the fan end of the motor; the controllable motor 7 drives the light filter and simultaneously drives the motor cooling fan 8 to blow air flow, and hot air in the shell during working is discharged through a cooling hole in the rear of the bottom shell 2.
Two projection equipment brackets 10, a camera base 11 and a motor base 14 are placed in the bottom shell 2, so that important components of a subsequent three-dimensional measurement system can be conveniently placed; respectively fixing the visible light projection device 5 and the infrared light projection device 3 on two projection equipment brackets 10, and installing a used camera lens 4 at the front part of the bottom shell 2; and finally, the top cover plate is arranged on the top shell, so that the integration degree of the three-dimensional measurement system is increased.
For a monocular double-projection three-dimensional measurement system, the measurement method comprises the following steps:
(1) a monocular double-projection measuring system (a monocular double-projection three-dimensional measuring camera 15) is fixedly arranged;
(2) adjusting the rotating speed of the controllable motor 7, synchronously acquiring images by the high-speed industrial camera 9, and rotating the controllable motor 7 for half a circle every time the images are acquired;
(3) writing a program through computer 16 software, calling two projection devices (an infrared light projection device 3 and a visible light projection device 5) to simultaneously project patterns to the surface of an object, and synchronously carrying out continuous acquisition on a high-speed industrial camera 9;
(4) the controllable motor 7 drives the optical filter when rotating, when the visible light optical filter blocks the high-speed industrial camera, visible light patterns are collected by the high-speed industrial camera 9, and after the visible light optical filter rotates for a half circle, when the infrared optical filter blocks the high-speed industrial camera 9, projected infrared light patterns are collected;
(5) and processing and analyzing the acquired calibration information and the depth information of the object surface, thereby obtaining the reconstructed three-dimensional shape of the object.
Claims (8)
1. A monocular double-projection three-dimensional measurement system is characterized by comprising an integrated monocular double-projection three-dimensional measurement camera (15) and a computer (16);
the monocular double-projection three-dimensional measurement camera (15) comprises a top cover plate (1) at the upper part and a bottom shell (2) at the lower part;
two sides of the interior of the bottom shell (2) are respectively provided with a projection equipment bracket (10), and the middle part of the bottom shell (2) and the space between the two projection equipment brackets (10) are provided with an adjacent motor base (14) and a camera base (11).
2. A monocular double-projection three-dimensional measuring system according to claim 1, characterized in that, a visible light projection device (5) is installed on the one of the projection equipment brackets (10), and an infrared light projection device (3) is installed on the other projection equipment bracket (10);
a controllable motor (7) is arranged on the motor base (14), and one end of the controllable motor (7) is connected with a motor cooling fan (8) through a wired line;
a high-speed industrial camera (9) is mounted on the camera mount (11).
3. Monocular double-projection three-dimensional measurement system according to claim 2, characterized in that a motor shaft is installed inside the controllable motor (7), and an infrared filter (12) and a visible light filter (13) are installed at the other end of the motor shaft.
4. Monocular double-projection three-dimensional measurement system according to claim 2, characterized in that a screw cap (6) is mounted on the controllable motor (7) near the infrared filter (12) and the visible light filter (13) end.
5. Monocular double-projection three-dimensional measurement system according to claim 1, characterized in that in the middle of the bottom shell (2), near the high speed industrial camera (9), a threaded hole is opened, inside which the camera lens (4) is mounted.
6. The monocular double-projection three-dimensional measurement system according to claim 2, wherein the acquisition frame rate of the high-speed industrial camera (9) is greater than the sum of the projection frame rates of the visible light projection device (5) and the infrared light projection device (3).
7. Monocular double-projection three-dimensional measurement system according to claim 5, characterized in that the camera lens (4) is a common industrial camera prime lens.
8. Monocular double-projection three-dimensional measurement system according to claim 2, characterized in that the operating speed of the controllable motor (7) is more than half of the acquisition frame rate of the high speed industrial camera (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121284503.8U CN215984414U (en) | 2021-06-09 | 2021-06-09 | Monocular double-projection three-dimensional measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121284503.8U CN215984414U (en) | 2021-06-09 | 2021-06-09 | Monocular double-projection three-dimensional measurement system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215984414U true CN215984414U (en) | 2022-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121284503.8U Active CN215984414U (en) | 2021-06-09 | 2021-06-09 | Monocular double-projection three-dimensional measurement system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215984414U (en) |
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2021
- 2021-06-09 CN CN202121284503.8U patent/CN215984414U/en active Active
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